Probabilistic qualitative mapping for robots

摘要

A probabilistic qualitative relational mapping (PQRM) algorithm is developed to enable robots to robustly map environments using noisy sensor measurements. Qualitative state representations provide soft, relative map information which is robust to metrical errors. In this paper, probabilistic distributions over qualitative states are derived and an algorithm to update the map recursively is developed. Maps are evaluated using Monte Carlo simulations for convergence and correctness. Validation tests are conducted on the New College dataset to evaluate map performance in realistic environments.